DE202019102226U1 - Robotic system for a container processing plant - Google Patents

Abstract

Robot system (10) for a container processing plant (1), with
a robot unit (11) for performing work orders with set-up and / or Garniturteilen (8) in the container processing plant (1), and
with a magazine (12) for storing the set and / or Garniturteile (8), characterized in that
the robot unit (11) is arranged on a mobile carriage (14) which comprises a ground-supported chassis (14.1) for locomotion in a working area of the container processing installation (1), and
in that the robot system (11) comprises a docking station (15) for docking the mobile carriage (14) on a container treatment machine (3) of the container processing installation (1).

Description

The invention relates to a robot system for a container processing plant having the features of the preamble of claim 1.

Such container processing equipment typically includes one or more container handling machines, such as a container manufacturing machine, a filler, a capper, a labeling machine, an inspection device, a packaging machine, and / or a palletizer for filling, capping and packaging a flowable product into containers. For example, the flowable product may be a beverage.

In container processing plants usually come with work orders with set and / or Garniturteilen or the refilling of consumables, which are almost exclusively done by an operator. For example, when cleaning the filler so-called CIP caps (CIP = Clean in Place) are placed in order to flush the filling organs without removal.

The disadvantage here is that the manual execution of the work orders requires a lot of time, which is associated with a corresponding cost.

For automation reveals the EP 0 985 633 A1 a method and apparatus for automatically changing filling heads a filling machine with a movable in different positions placement and change machines, with which components attached to the treatment costs, existing components was removed from these and spent in a storage position and other components from their Ford position with the treatment costs are connectable.

The disadvantage here is that the known device is only active when setting up the associated container treatment machines and stops during the filling of the product. In addition, the known device is not flexible.

The EP 1 132 334 B1 discloses a magazine device for attachable to container treatment machines components.

The WO 2013/060549 A1 discloses a container treatment plant and handling device.

The DE 10 2009 033 557 A1 discloses a device for bottling drinks with CIP cap control.

The object of the present invention is to provide a device for a container processing system for carrying out work orders with set-up and / or clothing parts, which is better utilized and more flexible.

To solve this problem, the invention provides a robot system for a container processing plant having the features of claim 1. Advantageous embodiments of the invention are mentioned in the subclaims.

The fact that the robot unit is arranged on the mobile carriage, which includes the ground-supported chassis for movement in the working area of the container processing plant, it can be moved manually or automatically to that container handling machine of the container processing plant, at the moment a job with the set-up and / or Garniturteilen is to perform. Subsequently, it can be moved to another container treatment machine on which a further work order with set-up and / or clothing parts is to be carried out. Consequently, the robot unit is particularly flexible due to their arrangement on the mobile car and can be better utilized. Because the robot system includes the docking station for docking the mobile carriage to the container handling machine, it can be safely docked with the mobile cart at a defined target position. Consequently, in carrying out the work orders, the mobile car is prevented from shifting by forces transmitted from the robot unit.

The container processing system may comprise a plurality of container treatment machines which are interconnected via one or more conveyors. By the container treatment machine may be meant a machine for treating containers and / or filling a beverage. The container treatment machine may comprise a container manufacturing machine, a rinser, an inspection device, a labeling machine, a filler for filling a beverage into the containers, a capper, a packaging machine and / or a palletizer. If a plurality of container treatment machines are present in the container processing system, a docking station can each be assigned to a container treatment machine. As a result, the robot unit with the mobile carriage can be securely positioned on the respective container treatment machine.

The containers may be intended to contain a flowable product such as a beverage, a food, a pharmaceutical product, a medical device, a detergent, a spray and / or a Personal care product. Preferably, the container may be a beverage container. A drink may be mineral water, a soft drink, a juice and / or beer. By a food may be meant a product such as the beverage, vinegar, edible oil and / or the like. Preferably, a container may be meant, with which a liquid or pasty product is transported from the manufacturer to the end user.

The containers may be adapted to fill the flowable product therein and provide them with a closure. The containers may be plastic bottles, glass bottles, cans and / or tubes. Plastic bottles may in particular be PET, PEN, HDPE or PP bottles. Likewise, it can be biodegradable containers whose main components consist of renewable raw materials, such as sugar cane, wheat or corn.

The mobile cart may include a frame on which the ground-based landing gear is located. The frame may optionally be connectable to one of the robotic units. It is conceivable that the frame is formed like a box. The ground-based chassis may comprise a plurality of wheels, wherein at least one of the wheels is designed to pivot pivotally. The mobile cart may comprise a handle bar with which the mobile cart and the robot unit arranged thereon can be moved by an operator in the working area of the container processing system.

The robotic unit may comprise a robotic arm with at least one controllable joint and / or track for moving an effector. For example, the robot unit may be an articulated robot. The effector may include a tool, such as a gripper or sucker, for gripping an object, such as one or more set and / or trim pieces. Preferably, the robot arm or the movement unit can be designed to move the effector three-dimensionally in space. However, a two-dimensional or one-dimensional movement is also conceivable. It is conceivable that the robot unit and / or the mobile cart comprises a rechargeable battery for the power supply. The robot unit may also be a collaborative and / or cooperative robot unit.

The docking station may include connectors to releasably connect the mobile cart to the docking station when docked. In addition, the docking station may comprise a preferably horizontally extending platform, which is passable by the mobile carriage. It is conceivable that the ground-based chassis includes height-adjustable wheels to compensate for ground slopes or a height offset. The docking station can be arranged stationarily on the container treatment machine.

The robotic system may include a control unit to control the robotic unit, the mobile cart, and / or the docking station. The control unit can be designed as a computer system, in particular as a machine control. Preferably, the control unit may comprise a CPU, memory unit, an input and output unit, an interface to drives of the robot unit, an interface to a drive of the mobile carriage and / or a network interface. The input and output unit may be, for example, a keyboard and a screen. It is conceivable that the robot system comprises a plurality of control units for separately controlling the robot unit, the mobile carriage and / or the docking station.

The set-up and / or fitting parts may be CIP caps, protective chamber sheets, filling tubes, probes, inlet / outlet fittings, sawtooth stars, guides, blow molds, heating mandrels, shielding plates, stretch rod tips, tuyeres, sealing heads, retaining clips, bottle plates and / or packaging (eg label rolls).

The work orders may, for example, be a change or an adjustment of the set and / or furniture parts. The work orders may in general be activities performed by the robot unit on the container treatment machine.

The mobile cart may include the robotic unit control unit and protection against ingress of dirt and liquid media into the control unit. As a result, the control unit can be arranged outside the working area of the robot unit and still be carried along in the mobile car. In addition, the control unit is protected against contamination. The protection may include housing parts, a sealing system and / or a flexible sheath. The protection can be, for example, a housing designed to prevent the ingress of liquids, in particular according to the ISO 20653 standard with degree of protection IP 5K1 to IP5K6 or IP 6K1 to IP6K6.

The robot unit may comprise a replaceable end effector, so that optionally various end effectors can be combined with the robot unit in order to carry out the work orders with different set-up and / or fitting parts. As a result, the robot system can be used particularly flexibly for a wide variety of work orders and also without any need be retrofitted with high effort. For example, the robot unit may comprise an exchangeable coupling for the various end-effectors, which in particular can be actuated automatically by the control unit. As a result, the robot unit can adapt the end effector to the work order independently and without the assistance of an operator.

The robot unit may comprise a force and / or torque sensor which is designed to detect a force and / or a torque on one of the set and / or trim parts when performing one of the work orders. As a result, damage to the set and / or clothing parts, the container treatment machine and / or the magazine when performing the work order can be avoided. It is conceivable, for example, a force-guided joining of the set and / or furniture parts, a force-driven insertion / removal of set-up and / or Garniturteile in / from the magazine, a position correction on nominal-actual comparison of force or torque curves and / or teachings with the help of the force and / or torque sensor.

The mobile cart, a separate cart, the magazine and / or the docking station may comprise a storage unit for the various end-effectors, in particular wherein the storage unit is designed such that the various end-effectors are automatically interchangeable with the robot unit. Thereby, the various end effectors can be provided in a magazine-like manner with the storage unit.

The mobile cart may be designed as a driverless transport vehicle with a drive for locomotion in the work area. The drive can be part of the ground-based chassis and drive one of the wheels. As a drive, the ground-based chassis may include an electric motor, which is preferably designed to be controllable. For example, this may be a servomotor. It is also conceivable that the ground-based chassis comprises a steering drive to steer at least one of the wheels. For power supply, the mobile cart may include a rechargeable battery and / or an electrical interface.

The robot unit may include protection against ingress of dirt and liquid media. As a result, the robot unit is protected from the ingress of dirt or liquids escaping from the container treatment machine. The protection may include housing parts, a sealing system and / or a flexible sheath. The protection may, for example, be a housing of the robot unit with a sealing system at the joints, which is designed to prevent ingress of liquids, in particular according to the standard ISO 20653 according to protection class IP 5K1 to IP5K6 or IP 6K1 to IP6K6. It is also conceivable that the robot unit is at least partially wrapped in the flexible shell.

The docking station may include a centering device and / or a locking device for the mobile carriage to position the mobile carriage at a target position. As a result, the mobile vehicle can be positioned at the target position in a particularly repeatable manner and secured against displacement during operation of the robot unit. The centering device can be plane, cylindrical segment-shaped and / or spherical segment-shaped mating surfaces. The target position may be a reference position at the docking station. The locking device may comprise, for example, a clamping device for tightening the mobile carriage at the target position, for example by means of a screw knob or a lever. However, it is also conceivable that the locking device operates automatically and / or controlled by the control unit.

The mobile cart and / or the robot unit may comprise a camera system and an image processing unit, which are designed to detect a destination position at the docking station for the positioning of the mobile cart and / or to identify the set-up and / or fitting parts. As a result, the mobile car can be positioned very flexibly without necessarily using mechanical elements. Likewise, the set-up and / or clothing parts can be identified by means of image processing, so that they can be provided without a fixed order. It is conceivable that the set-up and / or clothing parts comprise optical identification elements which can be recognized by the camera system and the image processing unit. It is also conceivable that the robot system comprises an electronic identification system for the set-up and / or clothing parts, for example an RFID scanner and RFID identification elements on the set-up and / or clothing parts.

The docking station may include a liftable docking unit for the mobile cart. As a result, the mobile car can be raised to a defined target position regardless of the nature of the ground. The liftable docking unit may comprise a controllable moving unit, in particular in order to move the centering device and / or to actuate the locking device. It is also conceivable that the liftable docking unit comprises an operating mechanism which is manually operable.

The docking station may comprise a detachable plug connection with a power and / or media supply and / or a data interface for the robot unit. As a result, the robot unit on the mobile cart in the area of the docking station can be supplied with energy and / or media. It is also conceivable that a data connection between the robot unit and the container treatment machine can be set up via the data interface in order to support or control the robot unit when carrying out the work orders. The separable connector can be done manually by an operator, by a docking or automated by the robot unit (robot unit plugged the connector itself).

The magazine can be arranged to store the set-up and / or clothing parts on the mobile cart, on the docking station or on the container treatment machine. As a result, the set-up and / or clothing parts can be provided at a particularly suitable location. It is conceivable that the mobile cart includes the magazine, so that the set-up and / or Garniturteile can be carried. Consequently, less permanent footprint is needed on the container handling machine.

It is also conceivable that the magazine for storing the set-up and / or clothing parts is designed as separate from the mobile cart magazine car. As a result, various set-up and / or clothing parts can be provided in different magazine carts and flexibly combined for the work orders with the mobile carriage and the robot unit. The separate magazine cart may include a ground-based landing gear, in particular with its own drive. It is also conceivable that the separate magazine cart is coupled to the mobile carriage of the robot unit. As a result, the separate magazine cart can be attached to the mobile cart and transported together.

The magazine may include one or more compartments and / or individual recordings for storing the set-up and / or Garniturteile. As a result, the set-up and / or clothing parts can be provided in an orderly manner. It is also conceivable that the one or more subjects are drawers or the like.

It is also conceivable that the magazine comprises a cleaning device for cleaning the set-up and / or Garniturteile. As a result, the set-up and / or clothing parts can be cleaned particularly easily after use. For example, the cleaning device may be a trough or a compartment for receiving a cleaning medium, in particular with nozzles arranged for distributing the cleaning medium. In addition, the cleaning device may include a drain and / or a tank for the cleaning medium.

The robotic system may include a guard to protect against injury by the robotic unit. These may be mechanical elements, such as a protective fence. It is also conceivable that the protection includes a security scanner, a light curtain and / or floor mats to recognize approaching persons. If a person invades one or more predefined zones, security measures are immediately initiated by the control unit. For example, if a person enters a first zone, the robot unit reduces its speed. If the person penetrates even closer to a second zone, the robot unit stops until the second zone is left by the person.

• 1A - 1 B ein Ausführungsbeispiel einer Behälterverarbeitungsanlage mit einer Behälterbehandlungsmaschine in einer Draufsicht bzw. einer seitlichen Schnittdarstellung;
• 2A - 2D ein Ausführungsbeispiel eines Robotersystems beim Durchführen eines Arbeitsauftrags mit Rüst- und/oder Garniturteilen in der Behälterverarbeitungsanlage;
• 3A - 3B ein weiteres Ausführungsbeispiel einer alternativen Andockstation mit einer anhebbaren Andockeinheit;
• 4 ein weiteres Ausführungsbeispiel eines Robotersystems, bei dem das Magazin zur Aufbewahrung der Rüst- und/oder Garniturteile am mobilen Wagen angeordnet ist; und
• 5 ein weiteres Ausführungsbeispiel eines Robotersystems, bei dem das Magazin zur Aufbewahrung der Rüst-und/oder Garniturteile als von dem mobilen Wagen separater Magazinwagen ausgebildet ist.

Further features and advantages of the invention will be explained in more detail with reference to the embodiments illustrated in the figures. Showing:

• 1A - 1 B an embodiment of a container processing plant with a container treatment machine in a plan view and a side sectional view;
• 2A - 2D an embodiment of a robot system when performing a job with set and / or Garniturteilen in the container processing plant;
• 3A - 3B a further embodiment of an alternative docking station with a liftable docking unit;
• 4 a further embodiment of a robot system, wherein the magazine for storing the set and / or Garniturteile is arranged on the mobile carriage; and
• 5 a further embodiment of a robot system in which the magazine is designed to store the set-up and / or Garniturteile as separate from the mobile cart magazine trolley.

In the 1A - 1B is an embodiment of a container processing plant 1 with a container treatment machine 3 shown in a plan view and in a side sectional view. It can be seen that the container processing plant 1 a feed star 6 , a container handling machine 3 and an outlet star 7 includes. The container handling machine 3 is here merely exemplified as a filler. It is also conceivable that the container treatment plant 1 another or further container treatment machines, such as a container manufacturing machine, a rinser, an inspection device, a labeling machine, a capper, a packaging machine and / or a palletizer.

The containers 2 be first from the feed star 6 to the carousel of the container handling machine 3 pass that is about the vertical axis A in that direction R rotates. The container handling machine 3 is at the carousel with several container receptacles 4 trained to the container 2 to pick up safely during transport and with the filling element 5 while filling with a liquid product. For example, it may be a drink.

• In den 2A - 2D ist ein Ausführungsbeispiel eines Robotersystems 10 beim Durchführen eines Arbeitsauftrags mit den Rüst- und/oder Garniturteilen 8 in der Behälterverarbeitungsanlage 1 dargestellt. Dabei handelt es sich um die zuvor erwähnten CIP-Kappen, die über das Füllventil 5.1 und das Rückgasrohr 5.2 des Füllorgans 5 aufgesetzt werden, um einen Spülraum für ein Reinigungsmedium zu schaffen.
• In der 2A ist das Robotersystem 10 schematisch dargestellt: Es umfasst den mobilen Wagen 14 und die daran angeordnete Robotereinheit 11 zur Durchführung der Arbeitsaufträge mit den Rüst- und/oder Garniturteilen 8 in der Behälterverarbeitungsanlage 1. Zu dem umfasst es die Andockstation 15, um den mobilen Wagen 14 an der Behälterbehandlungsmaschine 3 sicher anzudocken.

Usually, the container treatment machine 3 be cleaned when changing to another product or in regular cycles. This is usually done by the CIP process (Clean In Place), so that the filling organ 5 not dismantled, but only with CIP caps must be provided. This will be explained in more detail with reference to the following figures using a robot system:

• In the 2A - 2D is an embodiment of a robot system 10 when carrying out a work order with the set-up and / or clothing parts 8th in the container processing plant 1 shown. These are the aforementioned CIP caps, which are over the filling valve 5.1 and the return gas pipe 5.2 of the filling organ 5 be placed on to create a washing compartment for a cleaning medium.
• In the 2A is the robot system 10 shown schematically: It includes the mobile cart 14 and the robot unit disposed thereon 11 to carry out the work orders with the set and / or furniture parts 8th in the container processing plant 1 , It also includes the docking station 15 to the mobile car 14 at the container handling machine 3 safely dock.

Furthermore, for storing the set and / or Garniturteile 8th the magazine 12 provided with multiple subjects or individual shots, from which the set and / or Garniturteile 8th from the robot unit 11 can be taken out automatically and attached to the container treatment machine.

It can also be seen that various end-effectors 9.1 . 9.2 in the storage unit 13 be provided, for example, in the field of the magazine 12 arranged or part of it is.

In detail is the robot unit 11 with a robot arm 11.1 formed at a fixed end on the mobile cart 14 mounted and the other end is movable over several joints in different directions. In other words, the robot unit 10 designed as articulated robot. At the movable end is the change coupling 11.2 , about the optional end effectors 9.1 . 9.2 with the robot unit 11 can be combined to the work orders with different set and / or Garniturteilen 8th perform.

The fixed end of the robot arm 11.1 is at a top of the mobile cart 14 attached. It also includes the mobile car 14 the ground-based chassis 14.1 with wheels and the handlebar 14.5 , so an operator of the mobile car 14 convenient in the working area of the container processing plant 1 can proceed. It is conceivable that at least part of the wheels of the ground-based chassis 14.1 are designed to pivot about a vertical axis pivotally. Equally conceivable that the mobile car 14 is designed as a driverless transport vehicle with its own drive for locomotion in the work area. This allows the mobile cart 14 and the robot unit disposed thereon 11 automatically from a higher level process control to the container handling machine 3 and other container handling machines not shown here are moved.

Next you can see that the mobile car 14 the control unit 14.2 for the robot unit 11 which is housed in a protection against ingress of dirt and liquid media. For example, it may be a dust and / or liquid-tight housing. The control unit 14.2 is with the robot unit 11 For example, connected via a cable over which the control signals can be routed.

Here not shown in detail is that the robot unit 11 includes protection against ingress of dirt and liquid media. For example, it may be a sealing system with which penetration into the joints is prevented. It is also conceivable that it is a flexible shell, with the robot arm 11.1 is wrapped. This will make the robot unit 11 against liquids and dirt from the container treatment machine 3 protected.

It can be seen further that the robot unit 11 a camera system 11.3 and the mobile car 14 an image processing unit 14.2a include. These are interconnected via a data cable for image data. It is understood that the image processing unit 14.2a also directly on the robot unit 11 or may be arranged at any suitable place. This makes it possible, the set-up and / or Garniturteile 8th to identify and depend on it from the magazine 12 exit. It is also conceivable that the camera system 11.3 and the image processing unit 14.2a are adapted to a destination position for the mobile car 14 at the docking station 15 to capture and thereby support the positioning.

• Die Bedienperson schiebt den mobilen Wagen 14 mit der darauf angeordneten Robotereinheit 11 in der Richtung S bis zu der Andockstation 15, so dass das am mobilen Wagen 14 angeordnete Zentrierungselement 14.3 an entsprechenden Passflächen der Zentrierungseinrichtung 15.1 anliegt. Dadurch ist eine wiederholgenau Positionierung an der Zielposition sichergestellt. Anschließend wird der mobile Wagen 14 dort mit der Verriegelungseinrichtung 15.3 verriegelt und gegen ein weiteres Verschieben gesichert.

In the case of the present embodiment, the docking station comprises 15 however, the centering device 15.1 and the locking device 15.3 to the mobile car 14 to reposition at the target position. This is based on the 2 B explained in more detail:

• The operator slides the mobile cart 14 with the robot unit arranged thereon 11 in that direction S up to the docking station 15 , so that's on the mobile cart 14 arranged centering element 14.3 at corresponding mating surfaces of the centering device 15.1 is applied. This ensures repeatable positioning at the target position. Subsequently, the mobile car 14 there with the locking device 15.3 locked and secured against further displacement.

You can also see that the docking station, the separable connector 15.2 with a power supply and a data interface for the robot unit 11 includes when docking with a corresponding plug 14.4 is electrically connected. This allows the robot unit 11 while performing one of the work orders supplied with the necessary energy and with the container handling machine 3 be synchronized by the exchange of control data.

At the target position, the end effector is first picked up 9.1 with the change coupling 11.2 of the robot arm 11.1 , This is the movable end of the robot arm 11 to the storage unit 13 Do that to the desired end effector 9.1 with the change coupling 11.2 can be connected. The change coupling 11.2 may be formed such that the end effector 9.1 can be coupled automatically and / or controlled.

In the 2C can be seen that now by means of the camera system 11.3 and the image processing unit 14.2a the set and / or furniture parts 8th be detected automatically and the robot arm 11.1 to the corresponding subject of the magazine 12 can be moved. There then the corresponding set and / or Garniturteil 8th taken, in this case a CIP cap, and on the container treatment machine 3 appropriate.

This process is in the 2D to see, with the movable end of the robot arm 11 such to the filling organ 5 the container handling machine 3 will proceed that the CIP cap 8th with the end effector 9.1 from below on the filling organ 5 is attached so that it forms a flushing room for a cleaning medium. This process is for all filling organs 5 the container handling machine 3 repeated, so finally all filling organs 5 equipped with CIP caps. Subsequently, the CIP cleaning is carried out with the cleaning medium.

It is also conceivable that after completion of CIP cleaning all previously applied set-up and / or Garniturteile 8th again with the robot unit 11 be removed. It is also possible that the robot unit 11 with the mobile car 14 during cleaning to another container treatment machine (not shown here) procedure and so is used particularly well.

In the 3A - 3B is another embodiment of an alternative docking station 15 with a liftable docking unit 15.4 shown. The embodiment differs from the embodiment described above only by the docking mechanism of the mobile carriage 14 at the docking station 15 , All other features of the embodiment of the 2A - 2 B apply accordingly.

You can see that the docking station 15 the liftable docking unit 15.4 for the mobile car 14 includes. Docking becomes a mobile car 14 arranged coupling piece 14.4 in the area of the liftable docking unit 15.4 positioned. Subsequently, the docking unit 15.4 raised, so the entire mobile cart 14 with the robot unit arranged thereon 11 is moved upwards. This results in a simple and accurate positioning at the target position, which is independent of bumps.

It is conceivable that the docking unit 15.4 includes a drive so that it can be lifted automatically. It is also conceivable that it is raised manually via an operating mechanism. It is also possible that the connector 15.2 For the power supply and the data interface during lifting also mitverfahren, so that a mechanically secure connection is formed.

Like in the 3 B can be seen, with the robot unit 11 then the preparation and / or garniture judgment 8th (CIP cap) on the filling element 5 be attached.

In the 4 is another embodiment of a robot system 10 shown where the magazine 12 for storage of set-up and / or handling parts 8th on the mobile car 14 is arranged. The embodiment of 4 differs from the embodiments described above only by the arrangement of the magazine 12 and the storage unit 13 on the mobile car 14 , All features described above apply accordingly.

You can see that here is the magazine 12 and the storage unit 13 at the top of the mobile car 14 located. From there you can use the robot unit 11 both the various end-effectors 9.1 . 9.2 changed as well as the set and / or Garniturteile 8th be recorded or filed. It can also support the camera system 11.3 and the image processing unit 14.2a be used, so that the positions of the set and / or Garniturteile 8th or the end effectors 9.1 . 9.2 be automatically detected.

In the 5 is another embodiment of a robot system 10 to see the magazine 12 for the set and / or furniture parts 8th as from the mobile car 14 separate magazine cart 16 is trained. Previously described in relation to the other embodiments features apply accordingly. You can see that the separate magazine cart 16 also a ground-based chassis 16.1 with wheels and a clutch 16.2 for connection to the mobile vehicle 14 includes. This allows the magazine 12 with the mobile car 14 and the robot unit 11 be flexibly combined and handled depending on the job. In addition, it can be seen that the storage unit 13 with the various end effectors 9.1 . 9.2 on the magazine cart 16 is arranged. As a result, for the respective set and / or Garniturteile 8th suitable end effectors 9.1 . 9.2 be carried along.

The robot systems described in the embodiments 10 are used as follows: First, the mobile car 14 with the robot unit arranged thereon 11 manually by an operator or automatically with a drive to the container handling machine 3 the container processing plant 1 procedure and there at the docking station 15 docked. Subsequently, with the robot unit 11 a work order with the set-up and / or clothing parts 8th carried out. For example, with the robot unit 11 so-called CIP caps from the magazine 12 taken and on filling organs 5 placed. After CIP cleaning, it is conceivable that the CIP caps with the robot unit 11 back to the magazine 12 be covered.

It is also conceivable that depending on the job one of the various end effectors 9.1 . 9.2 from the storage unit 13 removed and with the change coupling 11.2 the robot unit 10 is connected.

Characterized in that in the embodiments in the 1A - 5 the robot unit 11 on the mobile cart 14 is arranged, which is the ground-based landing gear 14.1 for locomotion in the working area of the container processing plant 1 it may manually or automatically to that container handling machine 3 the container processing plant 1 at the moment a work order with the set-up and / or clothing parts 8th is to perform. Subsequently, it can be moved to another container treatment machine, at which another job with set and / or Garniturteilen 8th is to perform. Consequently, the robot unit 11 due to their arrangement on the mobile car 14 particularly flexible and can be better utilized. By doing that the robot system 10 the docking station 15 for docking the mobile car 14 at the container handling machine 3 Includes, it can with the mobile cart 14 safely docked at a defined target location. Consequently, the mobile car 14 in carrying out the work orders against being moved by the robot unit 11 transmitted forces secured.

It is understood that in the embodiments described above mentioned feature are not limited to these feature combinations, but also individually or in any other combinations are possible.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 0985633 A1 [0005]
• EP 1132334 B1 [0007]
• WO 2013/060549 A1 [0008]
• DE 102009033557 A1 [0009]

Claims (16)

Robotic system (10) for a container processing installation (1), comprising a robot unit (11) for carrying out work orders with set-up and / or fitting parts (8) in the container processing installation (1), and with a magazine (12) for storing the setup and / or clothing parts (8), characterized in that the robot unit (11) is arranged on a mobile carriage (14), which comprises a ground-supported chassis (14.1) for locomotion in a working area of the container processing installation (1), and in that the robot system (11) a docking station (15) for docking the mobile carriage (14) on a container treatment machine (3) of the container processing plant (1). Robot system (10) after Claim 1 wherein the mobile carriage (14) comprises a control unit (14.2) for the robot unit (11) and a protection against ingress of dirt and liquid media into the control unit. Robot system (10) after Claim 1 or 2 , wherein the robot unit (11) comprises a replaceable end effector (9.1), so that optionally various end effectors (9.1, 9.2) can be combined with the robot unit (11) in order to carry out the work orders with different set-up and / or clothing parts (8). Robot system (10) after Claim 3 wherein the mobile cart (14), a separate cart, the magazine (12) and / or the docking station (15) comprises a storage unit (13) for the various end effectors (9.1, 9.2), in particular wherein the storage unit (13) is designed such that the various end effectors (9.1, 9.2) with the robot unit (11) are automatically interchangeable. Robot system (10) according to any one of the preceding claims, wherein the robot unit (11) comprises a force and / or torque sensor which is adapted to a force and / or torque on one of the set and / or Garniturteile (8 ) in carrying out one of the work orders. A robotic system (10) according to any one of the preceding claims, wherein the mobile cart (14) is formed as a driverless transport vehicle having a drive for locomotion in the work area. A robotic system (10) according to any one of the preceding claims, wherein the robotic unit (11) comprises protection against ingress of dirt and liquid media. A robotic system (10) according to any one of the preceding claims, wherein the docking station (15) comprises centering means (15.1) and / or locking means (15.3) for the mobile carriage (14) to position the mobile carriage (14) at a target position , Robot system (10) according to one of the preceding claims, wherein the mobile cart (14) and / or the robot unit (11) comprises a camera system (11.3) and an image processing unit (14.2a), which are designed for positioning the mobile cart (11). 14) to detect a target position at the docking station (15) and / or to identify the set-up and / or clothing parts (8). A robotic system (10) according to any one of the preceding claims, wherein the docking station (15) comprises a liftable docking unit (15.4) for the mobile cart (14). Robot system (10) according to one of the preceding claims, wherein the docking station comprises a separable connector (15.2) with an energy and / or media supply and / or a data interface for the robot unit (11). Robot system (10) according to one of the preceding claims, wherein the magazine (12) for storing the set and / or Garniturteile (8) on the mobile carriage (14), at the docking station (15) or on the container treatment machine (3) is arranged , Robot system (10) according to any one of the preceding claims, wherein the magazine (12) for storing the set-up and / or Garniturteile (8) as by the mobile carriage (14) separate magazine trolley (15) is formed. Robot system (10) according to one of the preceding claims, wherein the magazine (12) comprises one or more compartments and / or individual receptacles for storing the set-up and / or Garniturteile (8). Robot system (10) according to any one of the preceding claims, wherein the magazine (12) comprises a cleaning device for cleaning the set-up and / or Garniturteile. A robotic system (10) according to any one of the preceding claims, wherein the robotic system (10) comprises a guard for protection against injury by the robotic unit.

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